Controller of rotary electric machine

ABSTRACT

To provide a controller of a rotary electric machine which can prevent the vibration torque component to be outputted by the rotary electric machine from being upper-limited by the maximum output torque of the rotary electric machine. A controller of a rotary electric machine decreases an amplitude of the vibration torque command value so that a vibration maximum value obtained by adding an amplitude of a vibration torque command value to a basic torque command value becomes less than or equal to an upper limit command value; and calculates a value obtained by upper-limiting an addition torque command value, which is obtained by adding the vibration torque command value to the basic torque command value, by the upper limit command value, as a final torque command value.

TECHNICAL FIELD

The present disclosure relates to a controller of a rotary electricmachine which superimposes a torque vibration component on output torqueof the rotary electric machine.

BACKGROUND ART

In recent years, the hybrid vehicle and the electric vehicle attractattention as the environmentally friendly vehicle. The hybrid vehicle isa vehicle which uses, as its power source, the rotary electric machinein addition to the conventional internal combustion engine. That is,both of the internal combustion engine and the rotary electric machineare used for the driving force source of the wheels. The electricvehicle is a vehicle which uses, as its driving force source, the rotaryelectric machine. However, a torque vibration component, such as atorque ripple, is superimposed on the rotary electric machine, and thevibration component may be transmitted to the wheels. At the time ofvehicle start, deceleration, very low speed running, and the like, thereis a possibility of giving discomfort to a driver by vibration. In thetechnology disclosed in PTL 1, it is configured to make the rotaryelectric machine output the vibration torque for canceling the torquevibration component.

CITATION LIST Patent Literature

PTL 1:JPH07-046878 A

SUMMARY OF INVENTION Technical Problem

However, the torque that the rotary electric machine can output has alimit due to magnetic saturation and the like, and the maximum outputtorque of the rotary electric machine is fixed. Accordingly, when therotary electric machine is made to output the vibration torque is astate where the output torque of the rotary electric machine increasesto near the maximum output torque, there is a case where a mountain partof the vibration torque component is upper-limited by the maximum outputtorque and the rotary electric machine cannot be made to output themountain part. On the other hand, since a valley part of the vibrationtorque component is not upper-limited by the maximum output torque, therotary electric machine can be made to output the valley part directly.Accordingly, an average value of the output torque of the rotaryelectric machine decreases by the upper-limited mountain part of thevibration torque component Therefore, when the output torque of therotary electric machine is made to increase to near the maximum output,torque and the vehicle is made to accelerate, there was a problem thatthe output torque decreases.

Thus, it is desirable to provide a controller of a rotary electricmachine which can prevent the vibration torque component to be outputtedby the rotary electric machine from being upper-limited by the maximumoutput torque of the rotary electric machine.

Solution to Problem

A controller of a rotary electric machine according to the presentdisclosure including:

a basic torque command calculation unit that calculates a basic torquecommand value which is a basic command value of torque in which therotary electric machine is made to output;

a vibration command calculation unit that calculates a vibration torquecommand value which is a torque command value which vibrates at avibration frequency; and

a final torque command calculation unit that calculates an additiontorque command value obtained by adding the vibration torque commandvalue to the basic torque command value; and calculates a value obtainedby upper-limiting the addition torque command value by an upper limitcommand value which is preliminarily set corresponding to a maximumoutput torque of the rotary electric machine, as a final torque commandvalue to be commanded to the rotary electric machine finally,

wherein when a vibration maximum value obtained by adding an amplitudeof the vibration torque command value to the basic torque command valuebecomes larger than the upper limit command value, the vibration commandcalculation unit decreases the amplitude of the vibration torque commandvalue so that the vibration maximum value becomes less than or equal tothe upper limit command value.

Advantage of Invention

According to the controller of the rotary electric machine of thepresent disclosure, since the amplitude of the vibration torque commandvalue superimposed on the final torque command value is decreased, thevibration torque command value is not upper-limited by the upper limitcommand value which is set corresponding to the maximum output torque ofthe rotary electric machine. Accordingly, the average value of the finaltorque command value and the average value of the output torque of therotary electric machine can be prevented from becoming lower than thebasic torque command value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a controller of a rotary electricmachine according to Embodiment 1 of the present disclosure;

FIG. 2 is a schematic configuration diagram of a vehicle equipped with arotary electric machine and a controller according to Embodiment 1 ofthe present disclosure;

FIG. 3 is a hardware configuration diagram of a rotary electric machineaccording to Embodiment 1 of the present disclosure;

FIG. 4 is a block diagram of an inverter control unit according toEmbodiment 1 of the present disclosure;

FIG. 5 is a block diagram of a basic vibration torque calculation unitaccording to Embodiment 1 of the present disclosure;

FIG. 6 is a figure for explaining an amplitude table according toEmbodiment 1 of the present disclosure;

FIG. 7 is a time chart according to a comparative example of the presentdisclosure.

FIG. 8 is a time chart according to a comparative example of the presentdisclosure.

FIG. 9 is a time chart according to Embodiment 1 of the presentdisclosure; and

FIG. 10 is a time chart according to other embodiments of the presentdisclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS 1. Embodiment 1

A controller 1 of a rotary electric machine 2 (hereinafter, referred tosimply as the controller 1) according to Embodiment 1 will be explainedwith reference to drawings. FIG. 1 is a schematic block diagram of thecontroller 1 according to the present embodiment.

The rotary electric machine 2 is provided with a stator fixed to anonrotation member, and a rotor which is disposed at radial-directioninner side of the stator and is pivotably supported by a nonrotationmember. In the present embodiment, the rotary electric machine 2 is arotary machine of the permanent magnet synchronous type, the stator isprovided with three-phase windings Cu, Cv, Cw, and the rotor is providedwith permanent magnets. The rotary electric machine 2 is electricallyconnected to a DC power source 4 via an inverter 10 which performs aDC/AC conversion. The rotary electric machine 2 has at least thefunction of an electric motor which receives electric power supply fromthe DC power source 4 and generates power. The rotary electric machine 2may have the function of a generator in addition to the function of theelectric motor.

The inverter 10 is a DC/AC conversion device that performs electricpower conversion between the DC power source 4 and the rotary electricmachine 2. The inverter 10 is configured into a bridge circuit in whichthree sets of two switching devices, which are connected in seriesbetween a positive pole wire connected to a positive pole of the DCpower source 4 and a negative pole wire connected to a negative pole ofthe DC power source 4, are provided correspondingly to the windings ofeach phase of three phases (U phase, V phase, W phase). A connectionnode, which connects the positive pole side switching device and thenegative pole side switching device in series, is connected to thewinding of the corresponding phase. An IGBT (Insulated Gate BipolarTransistor) in which a free wheel diode is connected in reverselyparallel, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor),and the like are used for the switching device. The inverter 10 isprovided with a current sensor 11 for detecting current which flows intoeach winding. The current sensor 11 is provided on the each phase wirewhich connects the series circuit of the switching devices and thewinding.

In the present embodiment, as shown in FIG. 2, the rotary electricmachine 2 serves as a driving force source of a vehicle; and a rotatingshaft of the rotor of the rotary electric machine 2 is coupled to rightand left two wheels 8 via reduction gears 6 and a differential gear 7.

The controller 1 is a controller which controls the rotary electricmachine 2 by controlling the inverter 10. As shown in FIG. 1, thecontroller 1 is provided with functional parts of a basic torque commandcalculation unit 30, a vibration command calculation unit 31, a finaltorque command calculation unit 32, an inverter control unit 33, and thelike. Respective control units 30 through 33 and the like provided inthe controller 1 are realized by processing circuits included in thecontroller 1. Specifically, as shown in FIG. 3, the controller 1 isprovided, as the processing circuits, with a calculation processor(computer) 90 such as a CPU (Central Processing Unit) and a DSP (DigitalSignal Processor), storage apparatuses 91 that exchange data with thecalculation processor 90, an input circuit 92 that inputs externalsignals to the calculation processor 90, an output circuit 93 thatoutputs signals from the calculation processor 90 to the outside, andthe like. As the storage apparatuses 91, there are provided a RAM(Random Access Memory) which can read data and write data from thecalculation processor 90, a ROM (Read Only Memory) which can read datafrom the calculation processor 90, and the like. The input circuit 92 isconnected with various kinds of sensors and switches and is providedwith an A/D converter and the like for inputting output signals from thesensors and the switches to the calculation processor 90. The outputcircuit 93 is connected with electric loads such as the switchingdevices, and is provided with a driving circuit and the like foroutputting a control signal from the calculation processor 90. In thepresent embodiment, the input circuit 92 is connected to the currentsensor 11, a rotational speed sensor 12, a temperature sensor 13, andthe like. The output circuit 93 is connected to the inverter 10(switching devices or a gate driving circuit of the switching devices).

Then, the calculation processor 90 runs software items (programs) storedin the storage apparatus 91 such as a ROM and collaborates with otherhardware devices in the controller 1, such as the storage apparatus 91,the input circuit 92, and the output circuit 93, so that the respectivefunctions of the control units 30 through 33 included in the controller1 are realized. Setting data items such as determination value and tableto be utilized in the control units 30 through 33 are stored, as part ofsoftware items (programs), in the storage apparatus 91 such as a ROM.Each function of the controller 1 will be described in detail below.

As shown in the block diagram of FIG. 4, the inverter control unit 33controls on/off of the switching devices of the inverter 10 so that therotary electric machine 2 outputs a torque of a final torque commandvalue Tcf transmitted from the final torque command calculation unit 32described below. In the present embodiment, the inverter control unit 33performs current feedback control using a vector control method. Theinverter control unit 33 is provided with a dq-axis current commandcalculation unit 40, a current feedback control unit 41, a voltagecoordinate conversion unit 42, a PWM signal generation unit 43, acurrent coordinate conversion unit 44, and a rotational speed detectionunit 45.

The rotational speed detection unit 45 detects a rotational speed of therotary electric machine 2. The rotational speed detection unit 45detects an electrical angle θ (magnetic pole position θ) of the rotorand an electrical angular speed, based on the output signal of therotational speed sensor 12 provided in the rotation shaft of the rotor.

The final torque command value Tcf calculated by the final torquecommand calculation unit 32 is inputted into the dq-axis current commandcalculation unit 40. The dq-axis current command calculation unit 40calculates a d-axis current command value Idc and a q-axis currentcommand value Iqc, in which currents that flow through the three phasewindings Cu, Cv, Cw are expressed in a dq-axis rotating coordinatesystem, in order to make the rotary electric machine 2 output a torqueof the final torque command value Tcf. The dq-axis current commandcalculation unit 40 calculates the dq-axis current command values Idc,Iqc according to a current vector control method, such as maximum torquecurrent control, magnetic flux weakening control, Id=0 control, andmaximum torque magnetic flux control. In the maximum torque currentcontrol, the dq-axis current command values Idc, Iqc which maximize thegenerated torque for the same current are calculated. In the magneticflux weakening control, the dq-axis current command values Idc, Iqc aremoved on a constant induced voltage ellipse according to the finaltorque command value Tcf. In the Id=0 control, the d-axis currentcommand value Idc is set to zero, and the q-axis current command valueIqc is changed according to the final torque command value Tcf and thelike. In the maximum torque magnetic flux control, the dq-axis currentcommand values Idc, Iqc in which a flux linkage is minimized for thesame torque generation are calculated. In the present embodiment, byreferring to a torque current conversion map in which a relationshipbetween the final torque command value Tcf and the dq-axis currentcommand values Idc, Iqc is preliminarily set, the dq-axis currentcommand calculation unit 40 calculates the dq-axis current commandvalues Idc, Iqc corresponding to the final torque command value Tcf.

The dq-axis rotating coordinate system consists of a d-axis defined inthe direction of the N pole (magnetic pole position) of the permanentmagnet provided in the rotor and a q-axis defined in the directionadvanced to d-axis by 90 degrees (π/2) in an electrical angle, and whichis the two-axis rotating coordinate system which rotates synchronizingwith rotation of the rotor in the electrical angle θ.

The current coordinate conversion unit 44 detects three phase currentsIu, Iv, Iw which flow through the respective phase windings Cu, Cv, Cwof the rotary electric machine 2 from the inverter 10, based on theoutput signal of the current sensor 11. The current coordinateconversion unit 44 converts three phase currents Iu, Iv, Iw, which flowinto the windings of respective phases, into a d-axis current Id and aq-axis current Iq which are expressed in the dq axial rotationcoordinate system, by performing a three-phase/two-phase conversion anda rotating coordinate conversion based on the magnetic pole position θ.

The current feedback control unit 41 performs current feedback controlwhich changes a d-axis voltage command value Vd and a q-axis voltagecommand value Vq, in which voltage command signals applied to the rotaryelectric machine 2 are expressed in the dq-axis rotating coordinatesystem, by PI control or the like so that the dq-axis currents Id, Iqapproach to the dq-axis current command values Idc, Iqc. Then, thevoltage coordinate conversion unit 42 converts the dq-axis voltagecommand values Vd, Vq into three-phase AC voltage command values Vu, Vv,Vw which are AC voltage command values to the respective three phasewindings, by performing a fixed coordinate conversion and atwo-phase/three-phase conversion based on the magnetic pole position θ.

The PWM signal generation unit 43 compares each of the three-phase ACvoltage command values Vu, Vv, Vw with a carrier wave (a triangularwave) which has an vibration width of a DC power source voltage andvibrates at a carrier frequency; and then turns on a rectangular pulsewave when the AC voltage command value exceeds the carrier wave, andturns off the rectangular pulse wave when the AC voltage command valuebellows the carrier wave. The PWM signal generation unit 43 outputs therectangular pulse waves of respective three phases as inverter controlsignals Su, Sv, Sw of respective three phases to the inverter 10, andturns on/off the respective switching devices of the inverter 10.

Next, calculation of the final torque command value Tcf will beexplained. As shown in FIG. 1, the basic torque command calculation unit30 calculates a basic torque command value Tcb which is a basic commandvalue of torque to be outputted by the rotary electric machine 2. In thepresent embodiment, the basic torque command calculation unit 30calculates a vehicle demand torque required for driving the wheels Waccording to an accelerator opening degree, a vehicle speed, a chargeamount, of the DC power source 4, and the like, and sets the basictorque command value Tcb based on the vehicle demand torque.

The vibration command calculation unit 31 calculates a vibration. torquecommand value Tcv which is a torque command value which vibrates at avibration frequency. In the present embodiment, the vibration commandcalculation unit 31 is provided with a basic vibration torquecalculation unit 34 and an amplitude decrease processing unit 38. Thebasic vibration torque calculation unit 34 calculates a basic vibrationtorque command value Tcvb which is a basic value of the vibration torquecommand value. The amplitude decrease processing unit 38 calculates thefinal vibration torque command value Tcv by performing amplitudedecrease processing described below to the basic vibration torquecommand value Tcvb.

The basic vibration torque calculation unit 34 sets the vibrationfrequency to a frequency corresponding to a rotational frequency(electrical angle frequency) of the rotary electric machine 2. The basicvibration torque command value Tcvb is a torque command value forcanceling a torque vibration component, such as a torque ripple and acogging torque, which occurs in the output torque of the rotary electricmachine 2, and is set to a torque with an opposite phase to a torquevibration component. The torque ripple occurs by interaction betweenmagnetic flux by the current and magnetic flux by the magnet, andbecomes a frequency of 6n times (n is a natural number of greater thanor equal to 1) as much as a fundamental frequency (electrical anglefrequency) of the current. The cogging torque occurs by a change ofstatic magnetic attraction force between the stator and the rotoraccording to a rotor position, and becomes a frequency obtained bymultiplying an electrical angle frequency and a least common multiple ofa slot number of the stator and a pole number of the rotor.

In the present embodiment, as shown in the equation (1), the basicvibration torque calculation unit 34 calculates, as the basic vibrationtorque command value Tcvb, a sine wave (or cosine wave) which has abasic amplitude Ab, vibrates at a vibration frequency which is an orderm (m is a natural number of greater than or equal to 1) of theelectrical angle frequency, and has difference of a phase y to m timesof the electrical angle θ.

Tcvb=Ab×sin(m×θ+γ)   (1)

As shown in the block diagram of FIG. 5, the basic vibration torquecalculation unit 34 is provided with an amplitude setting unit 35, avibration waveform calculation unit 36, and a multiplier 37. Theamplitude setting unit 35 sets the basic amplitude Ab based on the basictorque command value Tcb. In this example, by use of amplitude table inwhich a relationship between the basic torque command value Tcb and thebasic amplitude Ab is preliminarily set as shown in FIG. 6, theamplitude setting unit 35 calculates the basic amplitude Abcorresponding to the basic torque command value Tcb calculated by thebasic torque command calculation unit 30.

The vibration waveform calculation unit 36 calculates a vibrationwaveform based on the electrical angle θ detected by the rotationalspeed detection unit 45, the preliminarily set order m, and thepreliminarily set phase γ. In this example, the vibration waveformcalculation unit 36 calculates sin (m×θ+γ) as the vibration waveform.The vibration waveform calculation unit 36 may change the phase γaccording to operating conditions, such as the basic torque commandvalue Tcb and the electrical angle speed. Then, the multiplier 37calculates a basic vibration torque command value Tcvb by multiplyingthe basic amplitude Ab set by the amplitude setting unit 35 and thevibration waveform sin (m×θ+γ) calculated by the vibration waveformcalculation unit 36.

An example of a setting method of the amplitude table and the phase γwill be explained. When the vibration torque command value Tcv forcanceling the torque vibration is not superimposed on the basic torquecommand value Tcb, the output torque of the rotary electric machine 2 ismeasured by a torque sensor in a plurality of operating conditions, suchas the different basic torque command value Tcb. Then, the measuredoutput torque waveform is approximated to a sin wave by a least squaresmethod and the like. An amplitude of the approximated sin wave is set tothe basic amplitude Ab, and an opposite phase to a phase of theapproximated sin wave is set to the phase γ. As shown in FIG. 6, therelationship between the basic torque command value Tcb and the basicamplitude Ab is preliminarily set as the amplitude table.

As an absolute value of the basic torque command value Tcb becomeslarge, the amplitude of the torque vibration, such as the torque ripple,also becomes large. Therefore, the amplitude table is set so that thebasic amplitude Ab becomes large, as the absolute value of the basictorque command value Tcb becomes large. Accordingly, the torquevibration whose amplitude increases as the basic torque command valueTcb becomes large is canceled by the vibration torque command value.However, when the basic torque command value Tcb increases to near upperlimit command value Tcmx described below, the vibration torque commandvalue whose amplitude increased is upper-limited by the upper limitcommand value Tcmx, and a problem described below occurs.

In order to deal with a case where an order of the electrical anglefrequency of the torque ripple is different from that of the coggingtorque, the vibration command calculation unit 31 may calculate aplurality of basic vibration torque command values Tcvb which aredifferent in the order m, and may calculate a total value of theplurality of basic vibration torque command values Tcvb, as the finalbasic vibration torque command value Tcvb.

The amplitude decrease processing unit 38 calculates the final vibrationtorque command value Tcv by performing amplitude decrease processingdescribed below to the basic vibration torque command value Tcvb.

As shown in FIG. 1, the final torque command calculation unit 32calculates an addition torque command value Tcsm obtained by adding thevibration torque command value Tcv calculated by the vibration commandcalculation unit 31 to the basic torque command value Tcb calculated bythe basic torque command calculation unit 30; and calculates a valueobtained by upper-limiting the addition torque command value Tcsm by anupper-limit command value Tcmx which is preliminarily set correspondingto the maximum output torque of the rotary electric machine 2, as thefinal torque command value Tcf to be finally commanded to the rotaryelectric machine 2.

Here, the maximum output torque of the rotary electric machine 2 is amaximum value of an average value of the output torque in which thecontroller 1 can make the rotary electric machine 2 output, and becomesan output torque in which the torque vibration components, such as thetorque ripple and the cogging torque, are averaged. That is to say, themaximum output torque is a maximum average output torque. In the presentembodiment, the upper-limit command value Tcmx is set so as to coincidewith the maximum output torque of the rotary electric machine 2. Themaximum output torque of the rotary electric machine 2 changes accordingto the electrical angle speed of the rotor, the power source voltage ofthe DC power source 4, the charge amount, and the like. The final torquecommand calculation unit 32 sets the upper-limit command value Tcmxbased on the electrical angle speed of the rotor the power sourcevoltage of the DC power source 4, and the charge amount.

As shown in the equation (2), when the addition torque command valueTcsm obtained by adding the vibration torque command value Tcv to thebasic torque command value Tcb is larger than the maximum command valueTcmx, the final torque command calculation unit 32 sets the upper-limitcommand value Tcmx to the final torque command value Tcf. On the otherhand, when the addition torque command value Tcsm is less than or equalto the upper limit command value Tcmx, the final torque commandcalculation unit 32 sets the addition torque command value Tcsm to thefinal torque command value Tcf.

In the case of Tcsm(=Tcb+Tcv)>Tcmx

Tcf=Tcmx

2) In the case of Tcsm(=Tcb+Tcv)<=Tcmx

Tcf=Tcsm=Tcb+Tcv   (2)

Here, a comparative example configured not to perform amplitude decreaseprocessing by an amplitude decrease processing unit 38 described belowunlike the present embodiment will be explained. As shown in the timechart of FIG. 7, in a state where the basic torque command value Tcbrises to near the maximum command value Tcmx, when an addition torquecommand value Tcsm is calculated by adding the vibration torque commandvalue Tcv (the basic vibration torque command value Tcvb), to whichamplitude decrease processing is not performed, to the basic torquecommand value Tcb, the addition torque command value Tcsm isupper-limited by the upper-limit command value Tcmx, and becomes a statewhere a mountain part of the vibration torque command value Tcv, whichis vibrating, is cut off. Accordingly, an average value Tcfave of thefinal torque command value Tcf after upper limitation becomes lower thanthe basic torque command value Tcb.

The time chart of FIG. 8 shows a behavior of an output torque Tm of therotary electric machine 2 according to the comparative example. The timechart of the upper row of FIG. 8 is a behavior of the output torque Tmof the rotary electric machine 2 in the case of setting the basic torquecommand value Tcb to the final torque command value Tcf directly unlikethe present embodiment, without adding the vibration torque commandvalue Tcv to the basic torque command value Tcb. The output torque Tm ofthe rotary electric machine 2 becomes a waveform in which torquevibration component such as the torque ripple is superimposed on thebasic torque command value Tcb. Although an average value Tmave of theoutput torque Tm of the rotary electric machine 2 is less than theupper-limit command value Tcmx (the maximum output torque), the mountainpart of the torque vibration component of the output torque Tm exceedsthe upper-limit command value Tcmx.

The time chart of the lower row of FIG. 8 is a behavior of the outputtorque Tm of the rotary electric machine 2 corresponding to thecomparative example of FIG. 7. The mountain part of the torque vibrationcomponent of the output torque Tm is canceled by the valley part. of thevibration torque command value Tcv which is not upper-limited, and isreduced to the basic torque command value Tcb. On the other hand, sincethe mountain part of the vibration torque command value Tcv isupper-limited, the valley part of the torque vibration component of theoutput torque Tm is not canceled enough, and becomes lower than thebasic torque command value Tcb. Accordingly, the average value Tmave ofthe output torque Tm of the rotary electric machine 2 becomes lower thanthe basic torque command value Tcb. Therefore, in the comparativeexample, when the output torque Tm of the rotary electric machine 2 ismade to increase to near the upper-limit command value Tcmx and avehicle is made to accelerate, there is a problem that the output torqueTm drops.

Accordingly, in the present embodiment, when the vibration maximum valueobtained by adding the amplitude of the vibration torque command valueTcv to the basic torque command value Tcb becomes larger than the upperlimit command value Tcmx, the vibration command calculation unit 31 (theamplitude decrease processing unit 38) performs amplitude decreaseprocessing that decreases the amplitude of the vibration torque commandvalue Tcv so that the vibration maximum value becomes less than or equalto the upper limit command value Tcmx.

According to this configuration, as shown in the time chart of FIG. 9,the addition torque command value Tcsm obtained by adding the vibrationtorque command value Tcv after amplitude decrease processing to thebasic torque command value Tcb becomes less than or equal to theupper-limit command value Tcmx, and is not upper-limited by theupper-limit command value Tcmx. Therefore, the average value Tcfave ofthe final torque command value Tcf and the average value Tmave of theoutput torque Tm of the rotary electric machine 2 can be prevented frombecoming lower than the basic torque command value Tcb. Within a rangewhich is not upper-limited by the upper limit command value Tcmx, theamplitude of the vibration torque command value Tcv can be set and thetorque vibration component can be canceled.

In the present embodiment, when the determination vibration maximumvalue (Tcb+Ab) obtained by adding the basic amplitude Ab of the basicvibration torque command value Tcvb to the basic torque command valueTcb is larger than the upper limit command value Tcmx, the amplitudedecrease processing unit 38 decreases the amplitude of the vibrationtorque command value Tcv so that the vibration maximum value obtained byadding the amplitude of the vibration torque command value Tcv to thebasic torque command value Tcb coincides with the upper limit commandvalue Tcmx. According to this configuration, a decrease of the amplitudeof the vibration torque command value Tcv can be necessarily minimized,and a decrease of the reduction effect of torque vibration can benecessarily minimized.

When the amplitude of the vibration torque command value Tcv is set toA, it may set to A=Tcmx−Tcb so as to become Tcb+A =Tcmx. That is to say,the amplitude A of the vibration torque command value Tcv may be set toa difference value (Tcmx-Tcb) obtained by subtracting the basic torquecommand value Tcb from the upper-limit command value Tcmx. Specifically,as shown in the equation (3), when the determination vibration maximumvalue (Tcb+Ab) obtained by adding the basic amplitude Ab of the basicvibration torque command value Tcvb to the basic torque command valueTcb is larger than the upper-limit command value Tcmx, the amplitudedecrease processing unit 38 calculates an amplitude decrease coefficientKa by dividing the difference value (Tcmx-Tcb) by the basic amplitudeAb, and calculates the final vibration torque command value Tcv bymultiplying the amplitude decrease coefficient Ka to the basic vibrationtorque command value Tcvb. On the other hand, when the determinationvibration maximum value (Tcb+Ab) is less than or equal to the upperlimit command value Tcmx, the amplitude decrease processing unit 38 setsthe basic vibration torque command value Tcvb to the final vibrationtorque command value Tcv directly.

1) In the case of Tcb+Ab>Tcmx

Ka=(Tcmx−Tcb)/Ab

Tcv=Ka×Tcvb

2) in the case of Tcb+Ab<=Tcmx

Tcv=Tcvb   (3)

Alternatively, as shown in the equation (4), when the determinationvibration maximum value (Tcb+Ab) is larger than the upper-limit commandvalue Tcmx, the amplitude decrease processing unit 38 may use adifference value (Tcmx-Tcb) instead of the basic amplitude Ab in theequation (1), and may calculate the final vibration torque command valueTcv directly.

1) In the case of Tcb+Ab>Tcmx

Tcv=(Tcmx−Tcb)×sin(m×θ+γ)

2) In the case of Tcb+Ab<=Tcmx

Tcv=Ab×sin(m×θ+γ)   (4)

In the case where the total value of the plurality of basic vibrationtorque command values Tcvb which are different in the order m is set tothe final basic vibration torque command value Tcvb, the amplitudedecrease processing unit 38 sets an amplitude of the total value to thebasic amplitude Ab, and performs calculation of the equation (3).

By the way, when the basic torque command value Tcb is rapidly changeddue to a rapid change of driving condition, and disturbance such asnoise, the amplitude of the vibration torque command value Tcvcalculated according to the basic torque command value Tcb is alsorapidly changed. For example, the current detecting value detected bythe current sensor 11 changes rapidly due to noise, and thereby thebasic torque command value Tcb is rapidly changed. When the amplitude ofthe vibration torque command value Tcv is rapidly changed, the outputtorque of the rotary electric machine 2 also changes rapidly; andthereby a torque variation is transmitted to the wheels 8 and adiscomfort is given to a driver.

Then, in the present embodiment, the vibration command calculation unit31 performs low pass filter processing to a setting value of theamplitude of the vibration torque command value Tcv. According to thisconfiguration, rapid change of the amplitude of the vibration torquecommand value Toy is suppressed, and torque fluctuation can besuppressed from being transmitted to the wheels 8. In the case ofcalculating, the vibration torque command value Tcv using the equation(1) and the equation (3), the vibration command calculation unit 31performs low pass filter processing to the basic amplitude Ab and asetting value of the amplitude decrease coefficient Ka. Alternatively,in the case of calculating the vibration torque command value Tcv usingthe equation (4), the vibration command calculation unit 31 performs lowpass filter processing to the difference value (Tcmx-Tcb) and the basicamplitude Ab.

2. Embodiment 2

Next, the controller 1 according to Embodiment 2 will be explained. Theexplanation for constituent parts the same as those in Embodiment 1 willbe omitted. Although the basic configuration and processing of therotary electric machine 2 and the controller 1 according to the presentembodiment are the same as those of Embodiment 1, the calculation methodof the vibration maximum value in amplitude decrease processing isdifferent.

A deviation occurs between the final torque command value Tcf and theactual output torque of the rotary electric machine 2. For example, whenthe final torque command value Tcf is transformed into the dq-axiscurrent command values Idc, Iqc by using the torque current conversionmap, a transformation error occurs by a linear interpolation of aninterpolation or extrapolation. There is individual difference due toproduction variation in the rotary electric machine 2. If coil length isdifferent, since coil resistance is different, even if applied voltageis the same, current value is different, and output torque is different.For example, in a torque range of 0 to 300 Nm, the output torque of therotary electric machine 2 may deviate to the final torque command valueTcf within a range of about +2 Nm to −2 Nm.

Accordingly, a deviation occurs between the maximum output torque of therotary electric machine 2 and the upper-limit command value Tcmx.Especially in the case where the upper limit command value Tcmx deviatesso as to exceed the maximum output torque of the rotary electric machine2, even when the mountain part of the vibration torque command value Tcvincluded in the final torque command value Tcf is not upper-limited bythe maximum command value Tcmx, actually, there is a case where themountain part is upper-limited by the maximum output torque of therotary electric machine 2, and the rotary electric machine 2 cannot bemade to output torque of the mountain part of the vibration torquecommand value Tcv. Accordingly, it becomes a state similar to the graphof the lower row of FIG. 8, and there is a problem that the averagevalue Tmave of the output torque Tm of the rotary electric machine 2decreases.

Then, in the present embodiment, the vibration command calculation unit31 calculates, as the vibration maximum value, a value obtained byadding the amplitude of the vibration torque command value Tcv, and apreliminarily set deviation width ΔTsh between the final torque commandvalue Tcf and the output torque of the rotary electric machine 2, to thebasic torque command value Tcb. That is to say, when the vibrationmaximum value obtained by adding the amplitude of the vibration torquecommand value Tcv and the deviation width ΔTsh to the basic torquecommand value Tcb becomes larger than the upper-limit. command valueTcmx, the vibration command calculation unit 31 decreases the amplitudeof the vibration torque command value Tcv so that the vibration maximumvalue becomes less than or equal to the upper limit command value Tcmx.

According to this configuration, the amplitude of the vibration torquecommand value Tcv is decreased so as to provide an interval greater thanor equal to the preliminarily set deviation width. ΔTsh between theupper limit command value Tcmx and the final torque command value Tcfwhich is vibrating. Then, as described above, in the case where theupper limit command value Tcmx deviates so as to exceed the maximumoutput torque of the rotary electric machine 2, the mountain part of thevibration torque command value Tcv can be suppressed from beingupper-limited by the maximum output torque of the rotary electricmachine 2, and the average value Tmave of the output torque Tm of therotary electric machine 2 can be suppressed from decreasing.

In the present embodiment, the deviation width ΔTsh is preliminarily setto a maximum deviation width that occur in one or both of a settingerror of the torque current conversion map and an individual differenceof the rotary electric machine 2. When a determination vibration maximumvalue (Tcb+Ab+ΔTsh) obtained by adding the basic amplitude Ab of thebasic vibration torque command value Tcvb and the deviation width ΔTshto the basic torque command value Tcb is larger than the upper-limitcommand value Tcmx, the amplitude decrease processing unit 38 decreasesthe amplitude of the vibration torque command value Tcv so that avibration maximum value obtained by adding the amplitude of thevibration torque command value Tcv and the deviation width ΔTsh to thebasic torque command value Tcb coincides with the upper limit commandvalue Tcmx.

Specifically, as shown in the equation (5), when the determinationvibration maximum value (Tcb+Ab+ΔTsh) is larger than the upper-limitcommand value Tcmx, the amplitude decrease processing unit 38 calculatesthe amplitude decrease coefficient Ka by dividing the deviation widthsubtraction difference value (Tcmx-Tcb-ΔTsh), which is obtained bysubtracting the basic torque command value Tcb and the deviation widthΔTsh from the upper limit command value Tcmx, by the basic amplitude Ab;and calculates the final vibration torque command value Tcv bymultiplying the amplitude decrease coefficient Ka to the basic vibrationtorque command value Tcvb. On the other hand, when the determinationvibration. maximum value (Tcb+Ab+ΔTsh) is less than or equal to theupper limit command value Tcmx, the amplitude decrease processing unit38 sets the basic vibration torque command value Tcvb to the finalvibration torque command value Tcv directly.

1) In the case of Tcb+Ab+ΔTsh>Tcmx

Ka=(Tcmx−Tcb−ΔTsh)/Ab

Tcv=Ka×Tcvb

2) In the case of Tcb+Ab+ΔTsh<=Tcmx

Tcv=Tcvb   (5)

Alternatively, as shown in the equation (6), when the determinationvibration maximum value (Tcb+Ab+ΔTsh) is larger than the upper limitcommand value Tcmx, the amplitude decrease processing unit 38 may usethe deviation width subtraction difference value (Tcmx-Tcb-ΔTsh) insteadof the basic amplitude Ab in the equation (1), and may calculate thefinal vibration torque command value Tcv directly.

1) In the case of Tcb+Ab+ΔTsh>Tcmx

Tcv=(Tcmx−Tcb−ΔTsh)×sin(m×θ+γ)

2) In the case of Tcb+Ab+ΔTsh<=Tcmx

Tcv=Ab×sin(m×θ+γ)   (6)

In both cases of the equation (5) and the equation (6), the amplitudedecrease processing, unit 38 lower-limits the deviation widthsubtraction difference value (Tcmx-Tcb-ΔTsh) by zero. According to thisconfiguration, when the deviation width subtraction difference value(Tcmx-Tcb-ΔTsh) becomes less than. or equal to zero, the amplitude ofthe vibration torque command value Tcv is set to zero. Accordingly, theamplitude can be prevented from being minus, and the phase of thevibration torque command value Tcv can be prevented from being reversed.

3. Embodiment 3

Next, the controller 1 according to Embodiment 3 will be explained.Description of constitutional elements similar to the above Embodiment 1will be omitted. Although the basic configuration and processing of therotary electric machine 2 and the controller 1 according to the presentembodiment are the same as those of Embodiment 1, the calculation methodof the vibration maximum value in amplitude decrease processing isdifferent.

As explained in Embodiment 1, the controller 1 performs the currentfeedback control so that the current value detected by the currentsensor 11 approaches the current command value which is set based on thefinal torque command value Tcf. So, when detection deviation occurs inthe current sensor 11, deviation occurs between the final torque commandvalue Tcf and an actual output torque of the rotary electric machine 2.Generally, since the current sensor 11 is calibrated in normaltemperature, there is a possibility that the detection deviation becomeslarge if the current sensor 11 becomes high temperature. For example, inthe case where the current, sensor 11 is a shunt type, the current valueaccording to the voltage drop amount of the both ends of a resistor iscalculated. Accordingly, since a resistance of the resistor increasesand the voltage drop amount increases when the resistor becomes hightemperature, a detected current value becomes larger than an actualcurrent value. The temperature rise of the current sensor 11 occurs,when a temperature near the current sensor 11 of the inverters 10 rises,or when a current which flows through the resistor increases. Forexample, at the time of high ambient temperature in midsummer, highspeed driving, and the like, the temperature rise of the current sensor11 becomes large, and the current detection deviation becomes large.

If the current detection deviation is large, the deviation width betweenthe final torque command value Tcf and the actual output torque of therotary electric machine 2 also becomes large, and the problem explainedin the above Embodiment 2 occurs. That is to say, in the case where theupper limit command value Tcmx deviates so as to exceed the maximumoutput torque of the rotary electric machine 2, there is a case wherethe rotary electric machine 2 cannot be made to output torque of themountain part of the vibration torque command value Tcv by the upperlimitation of maximum output torque, and the average value Tmave of theoutput torque Tm of the rotary electric machine 2 decreases.

Then, in the present embodiment, when the temperature of the currentsensor 11 which detects current flowing into the rotary electric machine2 is greater than or equal to a preliminarily set determinationtemperature (for example, 80° C.), the vibration command calculationunit 31 calculates a current torque deviation width ΔTshi, which is adeviation width between the final torque command value Tcf and theoutput torque of the rotary electric machine 2 and is caused by currentdetection error of the current sensor 11; and calculates a valueobtained by adding the amplitude of the vibration torque command valueTcv and the current torque deviation width ΔTshi to the basic torquecommand value Tcb, as the vibration maximum value.

That is to say, when the temperature of the current sensor 11 is greaterthan or equal to the preliminarily set determination temperature, thevibration command calculation unit 31 decreases the amplitude of thevibration torque command value Tcv so that the vibration maximum valuebecomes less than or equal to the upper limit command value Tcmx when avibration maximum value obtained by adding the vibration torque commandvalue Tcv and the current torque deviation width ΔTshi to the basictorque command value Tcb becomes larger than the upper limit commandvalue Tcmx. On the other hand, when the temperature of the currentsensor 11 is less than the determination temperature, the vibrationcommand calculation unit 31 decreases the amplitude of the vibrationtorque command value Tcv so that the vibration maximum value becomesless than or equal to the upper-limit command value Tcmx when thevibration maximum obtained by adding the vibration torque command valueTcv to the basic torque command value Tcb becomes larger than themaximum command value Tcmx.

According to this configuration, when the temperature of the currentsensor 11 became greater than or equal to the determination temperatureand the current detection deviation became large, the amplitude of thevibration torque command value Tcv is decreased so as to provide aninterval greater than or equal to the current torque deviation widthΔTshi between the upper-limit command value Tcmx and the final torquecommand value Tcf which is vibrating. Therefore, in the case where theupper limit command value Tcmx deviates so as to exceed the maximumoutput torque of the rotary electric machine 2, the mountain part of thevibration torque command value Tcv can be suppressed from beingupper-limited by the maximum output torque of the rotary electricmachine 2, and the average value Tmave of the output torque Tm of therotary electric machine 2 can be suppressed from decreasing. On theother hand, when the temperature of the current sensor 11 is less thanthe determination temperature and the current detection deviation issmall, addition of the current torque deviation width ΔTshi is notperformed, the amplitude of the vibration torque command value Tcv canbe prevented from being decreased more than necessary, and a reductioneffect of torque vibration can be improved.

In the case where the current sensor 11 has a temperature detectionfunction, the vibration command calculation unit 31 detects thetemperature of the current sensor 11 based on the output signal of thetemperature sensor 13 provided in the current sensor 11. Alternatively,the vibration command calculation unit 31 detects the temperature of thecurrent sensor 11 based on the output signal of the temperature sensor13 provided near the current sensor 11.

The current torque deviation width ΔTshi may be a preliminarily setconstant value, or may be changed according to the temperature of thecurrent sensor 11. In the latter case, by use of a deviation widthsetting table in which the relationship between the temperature of thecurrent sensor 11 and the current torque deviation width ΔTshi ispreliminarily set, the vibration command calculation unit 31 calculatesthe current torque deviation width ΔTshi corresponding to the detectedtemperature of the current sensor 11.

When the determination vibration maximum value (Tcb+Ab+ΔTshi) obtainedby adding the basic amplitude Ab of the basic vibration torque commandvalue Tcvb and the current torque deviation width ΔTshi to the basictorque command value Tcb is larger than the upper limit command valueTcmx, the amplitude decrease processing unit 38 decreases the amplitudeof the vibration torque command value Tcv so that the vibration maximumvalue obtained by adding the amplitude of the vibration torque commandvalue Tcv and the current torque deviation width ΔTshi to the basictorque command value Tcb coincides with the upper limit command valueTcmx.

Specifically, as shown in the equation (7), when the determinationvibration maximum value (Tcb+Ab+ΔTshi) is larger than the upper limitcommand value Tcmx, the amplitude decrease processing unit 38 calculatesan amplitude decrease coefficient Ka by dividing the deviation widthsubtraction difference value (Tcmx-Tcb-ΔTshi), which is obtained bysubtracting the basic torque command value Tcb and the current torquedeviation width ΔTshi from the upper limit command value Tcmx, by thebasic amplitude Ab; and calculates the final vibration torque commandvalue Tcv by multiplying the amplitude decrease coefficient Ka to thebasic vibration torque command value Tcvb. On the other hand, when thedetermination vibration maximum value (Tcb+Ab+ΔTshi) is less than orequal to the upper limit command value Tcmx, the amplitude decreaseprocessing unit 38 sets the basic vibration torque command value Tcvb tothe final vibration torque command value Tcv directly.

1) In the case of Tcb+Ab+ΔTshi>Tcmx

Ka=(Tcmx−Tcb−ΔTshi)/Ab

Tcv=Ka×Tcvb

2) In the case of Tcb+Ab+ΔTshi<=Tcmx

Tcv=Tcvb   (7)

Alternatively, as shown in the equation (8), when the determinationvibration maximum value (Tcb+Ab+ΔTshi) is larger than the upper limitcommand value Tcmx, the amplitude decrease processing unit 38 may usethe deviation width subtraction difference value (Tcmx-Tcb-ΔTshi)instead of the basic amplitude Ab in the equation (1), and may calculatethe final vibration torque command value Tcv directly.

1) In the case of Tcb+Ab+ΔTshi>Tcmx

Tcv=(Tcmx−Tcb−ΔTshi)×sin(m×θ+γ)

2) In the case of Tcb+Ab+ΔTshi<=Tcmx

Tcv=Ab×sin(m×θ+γ)   (8)

In both cases of the equation. (7) and the equation (8), the amplitudedecrease processing unit 38 lower-limits the deviation width subtractiondifference value (Tcmx-Tcb-ΔTshi) by zero,

Other Embodiment

Lastly, other embodiments of the present disclosure will be explained.Each of the configurations of embodiments to be explained below is notlimited to be separately utilized but can be utilized in combinationwith the configurations of other embodiments as long as no discrepancyoccurs.

(1) In each of the above-mentioned Embodiments, there has been explainedthe case where the vibration command calculation unit 31 decreases theamplitude while maintaining a waveform of the basic vibration torquecommand value Tcvb in the amplitude decrease processing. However,embodiments of the present disclosure are not limited to the foregoingcase. That is to say, when the vibration maximum value obtained byadding the amplitude of the vibration torque command value Tcv to thebasic torque command value Tcb becomes larger than the upper-limitcommand value Tcmx, the vibration command calculation unit 31 shouldjust decrease the amplitude of the vibration torque command value Tcv sothat the vibration maximum value becomes less than or equal to the upperlimit command value Tcmx, and the waveform may be changed before andafter the amplitude decrease processing. For example, in Embodiment 1,as shown in the equation (9) and the time chart of FIG. 10, when thedetermination vibration maximum value (Tcb+Ab) obtained by adding thebasic amplitude Ab of the basic vibration torque command value Tcvb tothe basic torque command value Tcb is larger than the upper limitcommand value Tcmx, the vibration command calculation unit 31 mayupper-limit the basic torque command value Tcb by the difference value((Tcmx-Tcb) obtained by subtracting the basic torque command value Tcbfrom the maximum command value Tcmx, and may set a value obtained bylower-limiting the basic torque command value Tcb by a value obtained bymultiplying −1 to the difference value (Tcmx-Tcb), to the finalvibration torque command value Tcv.

1) In the case of Tcb+Ab>Tcmx

−(Tcmx−Tcb)<=Tcvb<=(Tcmx−Tcb)

Tcv=Tcvb

2) In the case of Tcb+Ab<=Tcmx

Tcv=Tcvb   (9)

In Embodiment 2, the vibration command calculation unit 31 may upper andlower limit the basic torque command value Tcb by a plus value and aminus value of the deviation width subtraction difference value(Tcmx-Tcb-ΔTsh). In Embodiment 3, the vibration command calculation unit31 may upper and lower limit the basic torque command value Tcb by aplus value and a minus value of the deviation width subtraction value(Tcmx-Tcb-ΔTshi).

Also according to this configuration, the amplitude of the vibrationtorque command value Tcv can be decreased so that the vibration maximumvalue becomes less than or equal to the upper limit command value Tcmx,and the average value Tcfave of the final torque command value Tcf andthe average value Tmave of the output torque Tm of the rotary electricmachine 2 can be prevented from becoming lower than the basic torquecommand value Tcb. Moreover, rather than each of the above embodiments,the amplitude of the vibration torque command value Tcv can be made toincrease, and cancellation effect of the torque vibration can beimproved.

(2) In each of the above-mentioned. Embodiments, there has beenexplained the case where the vibration command calculation unit 31calculates the vibration torque command Tcv (the basic vibration torquecommand value Tcvb) of the sine wave (or cosine wave) waveform. However,embodiments of the present disclosure are not limited to the foregoingcase. That is to say, the vibration command calculation unit 31 maycalculate any waveform, as long as it is the vibration torque commandvalue Tcv (the basic vibration torque command value Tcvb) which vibratesat the vibrational frequency. For example, the vibration commandcalculation unit 31 may set a waveform close to a vibration component ofthe output torque of the rotary electric machine 2 which was measured bya torque sensor in an experiment, to the waveform of the vibrationtorque command value Tcv (the basic vibration torque command valueTcvb). For example, the vibration command calculation unit 31 maycalculate a unit command value, whose amplitude is 1, by combining aplurality of sine waves (or cosine waves) which are different in phase;or may calculate a unit command value corresponding to the electricalangle θ by using a table in which the relationship between the angle andthe unit command value is preliminarily set. Then, the vibration commandcalculation unit 31 may calculate the basic vibration torque commandvalue Tcvb by multiplying the basic amplitude Ab to the unit commandvalue.

(3) In the above-mentioned Embodiment 1, there has been explained thecase where the vibration command calculation unit 31 decreases theamplitude of the vibration torque command value Tcv so that thevibration maximum value coincides with the upper-limit command valueTcmx. However, embodiments of the present disclosure are not limited tothe foregoing case. That is to say, the vibration command. calculationunit 31 should just decrease the amplitude of the vibration torquecommand value Tcv so that the vibration maximum value becomes less thanor equal to the upper limit command value Tcmx. For example, thevibration command calculation unit 31 may decrease the amplitude of thevibration torque command value Tcv so that the vibration maximum valuecoincides with a value obtained by subtracting a predetermined valuefrom the upper limit command value Tcmx.

(4) In the above-mentioned Embodiment 2, there has been explained thecase where as the deviation width between the final torque command valueTcf and the output torque of the actual rotary electric machine 2, thedeviation width due to the torque current conversion map and theproduction variation is taken into consideration. In the above-mentionedEmbodiment 3, there has been explained the case where as the deviationwidth between the final torque command value Tcf and the output torqueof the actual rotary electric machine 2, the deviation width due to thecurrent detection deviation is taken into consideration. However,embodiments of the present disclosure are not limited to the foregoingcase. As the deviation width between the final torque command value Tcfand the output torque of the actual rotary electric machine 2, thedeviation width due to various factors may be taken into consideration,and the deviation width due to both of the torque current conversion mapand the production variation, and the current detection deviation may betaken into consideration.

(5) In each of the above-mentioned Embodiments, there has been explainedthe case where the vibration command calculation unit 31 calculates thevibration torque command value Tcv for canceling the torque vibrationcomponent such as the torque ripple and the cogging torque which therotary electric machine 2 outputs. However, embodiments of the presentdisclosure are not limited to the foregoing case. The vibration commandcalculation unit 31 should just calculate the vibration torque commandvalue Tcv which vibrates at the vibrational frequency. For example, thevibration command calculation unit 31 may calculate the vibration torquecommand value Tcv for canceling a shaft torsional vibration which occursin a power transmission passage which connects the rotary electricmachine 2 and the wheels 8, or may calculate the vibration torquecommand value icy for canceling both of the torque ripple and thecogging torque, and the shaft torsional vibration.

(6) In each of the above-mentioned Embodiments, there has been explainedthe case where the rotary electric machine 2 is used for the drivingforce source of the electric vehicle. However, embodiments of thepresent disclosure are not limited to the foregoing case. That is tosay, the rotary electric machine 2 may be used for a driving forcesource of a hybrid vehicle equipped with an internal combustion engine,or may be used for a driving force source of an apparatus other than avehicle.

(7) In each of the above-mentioned Embodiments, there has been explainedthe case where the rotary electric machine 2 is the permanent magnettype synchronous rotary electric machine. However, embodiments of thepresent disclosure are not limited to the foregoing case. That is tosay, the rotary electric machine 2 may be various kinds of rotaryelectric machines, such as an induction rotary electric machine.

Various modifications and alterations of this disclosure will beapparent to those skilled in the art without departing from the scopeand spirit of this disclosure, and it should be understood that this isnot limited to the illustrative embodiments set forth herein.

INDUSTRIAL APPLICABILITY

The present disclosure can be preferably used for a controller of arotary electric machine which superimposes a torque vibration componenton output torque of the rotary electric machine.

REFERENCE SIGNS LIST

1: Controller of Rotary Electric Machine, 2: Rotary Electric Machine,11: Current Sensor, 13: Temperature Sensor, 30: Basic Torque CommandCalculation Unit, 31: Vibration Command Calculation Unit, 32: FinalTorque Command Calculation Unit, Ab: Basic Amplitude, Ka: AmplitudeDecrease Coefficient, Tcb: Basic Torque Command Value, Tcf: Final TorqueCommand Value, Tcfave: Average Value of Final Torque Command Value, Tcv:Vibration Torque Command Value, Tcvb: Basic Vibration Torque CommandValue, Tcmx: Upper-limit Command Value, Tcsm: Addition Torque CommandValue, Tm: Output Torque of Rotary Electric Machine, Tmave: AverageValue of Output Torque of Rotary Electric Machine

1. A controller of a rotary electric machine comprising: a basic torquecommand calculator that calculates a basic torque command value which isa basic command value of torque in which the rotary electric machine ismade to output; a vibration command calculator that calculates avibration torque command value which is a torque command value whichvibrates at a vibration frequency; and a final torque commandcalculation unit calculator that calculates an addition torque commandvalue obtained by adding the vibration torque command value to the basictorque command value; and calculates a value obtained by upper-limitingthe addition torque command value by an upper limit command value whichis preliminarily set corresponding to a maximum output torque of therotary electric machine, as a final torque command value to be commandedto the rotary electric machine finally, wherein when a vibration maximumvalue obtained by adding an amplitude of the vibration torque commandvalue to the basic torque command value becomes larger than the upperlimit command value, the vibration command calculator decreases theamplitude of the vibration torque command value so that the vibrationmaximum value becomes less than or equal to the upper limit commandvalue.
 2. The controller of the rotary electric machine according toclaim 1, wherein the vibration command calculator calculates, as thevibration maximum value, a value obtained by adding the amplitude of thevibration torque command value and a preliminarily set deviation widthbetween the final torque command value and the output torque of therotary electric machine, to the basic torque command value.
 3. Thecontroller of the rotary electric machine according to claim 1, whereinwhen a temperature of a current sensor which detects current flowinginto the rotary electric machine is greater than or equal to apreliminarily set determination temperature, the vibration commandcalculator calculates a current torque deviation width, which is adeviation width between the final torque command value and an outputtorque of the rotary electric machine and is caused by current detectionerror of the current sensor; and calculates a value obtained by addingthe amplitude of the vibration torque command value and the currenttorque deviation width to the basic torque command value, as thevibration maximum value.
 4. The controller of the rotary electricmachine according to claim 1, wherein the vibration command calculatordecreases the amplitude of the vibration torque command value so thatthe vibration maximum value coincides with the upper limit commandvalue.
 5. The controller of the rotary electric machine according toclaim 1, wherein the vibration command calculator performs low passfilter processing to a setting value of the amplitude of the vibrationtorque command value.
 6. The controller of the rotary electric machineaccording to claim 2, wherein when a temperature of a current sensorwhich detects current flowing into the rotary electric machine isgreater than or equal to a preliminarily set determination temperature,the vibration command calculator calculates a current torque deviationwidth, which is a deviation width between the final torque command valueand an output torque of the rotary electric machine and is caused bycurrent detection error of the current sensor; and calculates a valueobtained by adding an amplitude of the vibration torque command valueand the current torque deviation width to the basic torque commandvalue, as the vibration maximum value.
 7. The controller of the rotaryelectric machine according to claim 2, wherein the vibration commandcalculator decreases an amplitude of the vibration torque command valueso that the vibration maximum value coincides with the upper limitcommand value.
 8. The controller of the rotary electric machineaccording to claim 2, wherein the vibration command calculator performslow pass filter processing to a setting value of amplitude of thevibration torque command value.
 9. The controller of the rotary electricmachine according to claim 3, wherein the vibration command calculatordecreases an amplitude of the vibration torque command value so that thevibration maximum value coincides with the upper limit command value.10. The controller of the rotary electric machine according to claim 3,wherein the vibration command calculator performs low pass filterprocessing to a setting value of amplitude of the vibration torquecommand value.
 11. The controller of the rotary electric machineaccording to claim 4, wherein the vibration command calculator performslow pass filter processing to a setting value of amplitude of thevibration torque command value.